Best Tent Camping near Lake Mills, WI
Searching for a tent camping spot near Lake Mills? Find the best tent camping sites near Lake Mills. Search nearby tent campgrounds or find top-rated spots from other campers.
Best Tent Sites Near Lake Mills, WI (10)
1. Snug Harbor Inn Campground on Turtle Lake
Delavan, Wisconsin6 Reviews•18 Photos•70 SavesSnug Harbor is the place to be for Campgrounds in Wisconsin. At Snug Harbor you’ll find excellent fishing, boating and swimming on a private, clean, sandy beach.
Our campgrounds offer three different options for today’s camping enthusiasts: Tent Sites, RV Sites, and Manufactured Housing. We have all the modern conveniences while allowing you to relax and enjoy majestic views from every site. Amenities include full hookup, laundromat, ice, firewood, bait, candy, and some fishing supplies. Rent one of our rowboats or canoes for a relaxing day on the lake, or join in a pick-up game of volleyball or horseshoes. Additionally, our RV sites have 30 and 50 AMP electric service and full sewer hookups.
Campsite rentals include sewer hookup. Reservations are recommended. Boat slips are available for a fee. We offer affordable rates for RVs and tent campers. We also have reasonable rates for pier rental, visitors, and our four-legged friends.
- Pets
- Fires
- Electric Hookups
- Reservable
- ADA Access
- Tents
$15 - $45 / night
2. Sandhill Station State Campground — Lake Mills Wildlife Area
Lake Mills, Wisconsin2 Reviews•37 Photos•26 Saves- Pets
- Fires
- Phone Service
- Reservable
- Tents
- Group
3. New Glarus State Park Campground
New Glarus, Wisconsin16 Reviews•31 Photos•48 Saves- Pets
- Fires
- Electric Hookups
- Phone Service
- Reservable
- ADA Access
$15 - $25 / night
4. KMSF Shelter 1 Backpack Site
Eagle, Wisconsin1 ReviewDesignated backpack campsites are available by reservation at the following properties. These campsites may be several hundred yards to a few miles away from the nearest parking area and campers need to carry all gear in and out. Campsites typically feature a fire ring, seating, and a primitive privy or wilderness latrine, which may be shared with other campsites. There are also a limited number of opportunities for very primitive, remote camping on DNR lands.
- Pets
- Fires
- Phone Service
- Tents
- Dispersed
- Tent Cabin
5. Wild Goose City Park
Horicon, Wisconsin1 Review•1 Save- Pets
- Phone Service
- Reservable
- ADA Access
- Tents
- Trash
6. Cappie's Landing
Be the first to review!Watertown, Wisconsin•2 Saves- Pets
- Fires
- Reservable
- Tents
- Toilets
$20 / night
7. Devils Lake State Park Group Campground — Devils Lake State Park
Baraboo, Wisconsin5 Reviews•29 Photos•20 SavesIf you’re traveling with a larger group, family, or organization, Devil’s Lake State Park has you covered with their Group Campsites located on the South Shore. There are 8 sites available that can accommodate 20 to 60 campers, depending on the site.
The park’s group camp facilities feature modern showers and restrooms, and the location is conveniently located about a 15-minute walk via the Group Camp Trail to the South Shore day-use area and beach. Climbing groups will also appreciate the location, which is situated at the head of the CCC trail.
- Pets
- Fires
- Reservable
- Tents
- Group
- Picnic Table
8. Purplehaze Acres
Be the first to review!Hartford, Wisconsin•2 Photos•7 SavesPurplehaze Acres is a 60-acre organic rustic farm in Rubicon, WI and resides at the beginning of the approx. 650-mile Niagara Escarpment--known locally as "The Ledge". We are in close proximity to the Ice Age Trail, and the natural treasures of the great Horicon Marsh, Lake Sinnissipi/Rock River with canoeing/kayaking/fishing, Ledges County Park, and the world-renowned Holy Hill Shrine.
Nearby Hustisford ("Husti") offers unique shopping and dining experiences, such as the Mercantile and Mocha Vino. Need a few organic groceries? Make sure to visit Back To The Best Organic grocer only 3 miles away, featuring food raised on local organic farms including Purplehaze Acres.
Potable water, charcoal grills, firepit grates, eggs and available for purchase--firewood. COMING SOON: Did you forget something? If so, check out our Camp Cupboard Store. FYI: In addition to our private individual sites, our PEACE CAMP site is a group site perfect for the rustic camp wedding, small festivals, EAA, Harley celebrations and other fun casual events. Check out the Peace Camp listing for details.
Your approach via 1/2-mile dirt drive up the hills and through the woods . . . to not your grandmother's typical house you go. You'll find wonderful vistas, wildflowers, berries, trails up into the woods, a 900' grass runway for aviators on an overall great "peace" of earth. ☮
- Pets
- Fires
- Phone Service
- Reservable
- Tents
- Picnic Table
$40 - $160 / night
9. Scheidegger Forest (Dane County Parks)
Be the first to review!Verona, Wisconsin•3 SavesScheidegger Forest is nearly 80 acres and offers a mile of loop of hiking trails, a reservable shelter, and restroom. The area has been restored from a former Dane County Sheriff shooting range to a managed forest of primarily oak and hickory. The shelter, kiosk, and bathroom were all built from wood harvested on-site. Water is not available at this site
When this Group Camp is reserved, the Shelter is not available to be reserved by another party(and vice versa). Located~ 100 feet east of loop parking lot, just beyond the restroom No potable water at this time. Vault(pit) toilet. Campfire ring. No electricity. 20’ x 30’ shelter– picnic tables. Vehicle parking in parking lot
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Reserve a campsite online here: https://web2.myvscloud.com/wbwsc/widanectywt.wsc/splash.html
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Check opening and closing dates here: https://www.danecountyparks.com/about/Parks-Opening-Closing-Schedule
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See campground rules here: https://www.danecountyparks.com/about/rules
- Pets
- Fires
- Reservable
- Tents
- Group
- Standard (Tent/RV)
$65 / night
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10. Little Turtle Lake
Be the first to review!Hartford, Wisconsin•2 PhotosPrimitive camping on private pond well maintained lawns. Clothing optional.
- Pets
- Fires
- Phone Service
- Reservable
- Tents
- Group
$50 - $80 / night
Recent Tent Reviews in Lake Mills
651 Reviews of 10 Lake Mills Campgrounds
Linda N.
Traveler
Milton-Madison SE KOA
cant wait to go back
I ended up here because I was going to a music festival in the area, and they turned me away because I have a service animal. I wasn't going to do all that work for nothing and just go home, so I decided to look up my nearest campground and it was KOA in Milton. they made me feel welcome. they understood my dilemma. it was a wonderful weekend. lots of amenities and I just absolutely can't wait to go back next year. I'm going to try to make it a couple times. so much fun, just me and my dog. And one last the thing, my fellow campers were more than hospitable and very nice and I appreciate that very much.
- Linda N.Traveler
Sweet Minnihaha Campground
music fest
I originally went to this campground a couple years ago for a music festival, but I discovered how much fun it was. the people were incredible. the staff was really awesome so I continue to make it back at least once a year
- AAlexandria P.
Scout
Big Foot Beach State Park Campground
A bit deceptive
So this place is much less dog friendly than is advertised. Dogs aren’t allowed in large swaths of the park nor on the (tiny tiny, bordered by loud highway) beach. Lake Geneva is very pretty, but the area is obviously very wealthy and obviously geared toward retirees without dogs or with tiny dogs they leave at the RV (to bark, constantly, at their next site neighbors. Until the owners get back.)
Abbe W.
Guide
Mukwonago Park by Waukesha County Parks
Prairie Grass and Wildflowers
Sites are large and well spaced out. The campground is clean and well kept. The rangers drive through regularly and will deliver wood to your site if requested. There are pit toilets in the camp area, but there are flush toilets, running water, and showers in the picnic area near the entrance. There are a couple of hiking trails as well. Great landscape and wildlife. We were lucky enough to have a couple of Sandhill Cranes walk through our camp early one morning.
- Abbe W.Guide
Whitewater Lake — Kettle Moraine State Forest-Southern Unit
Nice Campground, Great Location for Hiking the Ice Age Trail
The campground was clean and quiet. We were in the East Loop. The on-site host was super friendly and helpful with firewood and ice. Pit toilets, no showers. Easy access to Ice Age Trail from the campground. Nice hike to Rice Lake.
- S
Sarah C.Guide
Creekview RV Park
Very close to i90
Passing through and needed an accesible camping spot for our 19 foot travel trailer. Creekview fit the bill. Right off i90, and next to fuel and food stops. Family run campground with 40 sites that have water and electric. They are cash or check only, with no online booking. Sites are snug. Decent cell service. Other than highway noise peaceful spot. Dogs welcome!
Jaime P.Traveler
Badgerland Campground
Great little campground
We booked a weekend here for a soccer tournament we had in Verona, so we didn’t spend a lot of time on the property. The staff was amazing! Very friendly and helpful for us new to camping people. We booked online and they were also friendly when I messed up my reservation so thanks for that too. We booked in VIP 1, which is right next to the bath house. We wanted to be close to the showers (coin op). We figured since we’re at a sporting event that might be nice. Very quiet at night. We did have a little time to go fishing at the fishing pond. We didn’t catch anything but we had fun. The fishing pond is a ways from our camping area though. It would have been a long walk so we drove. WiFi is for a fee but it was fine. The fee wasn’t expensive (less than $5). No sewer hook up but there is a dump site so no big deal. Overall good stay.
Monica F.Scout
Bear Lake Campground and Resort
Love this campground!
Great campground! Shaded or Sunny sites. Level sites. Friendly staff. Sandy Beach. Swimming. Playground. Kids Activities. Themed weekends. Bar. Restaurant. Great Food! Tiki Bar on Beach. Great Fishing. Laundry.
Jenna R.Scout
Blue Mound State Park Campground
Great for families
Lots of playgrounds for kids age 2-10. Pit toilets smell- I’d avoid sites around them. Hot Showers by lot 30 and at pool. Pool is not heated as stated- definitely not 80 degrees. West tower is the best for sunsets. Site 75 was nice as it was a bit back from the road and you can’t see your neighbors.
Renee R.Guide
Brigham Park
Nice spot for summer camping.
I've visited this campground twice and it's been a hit both times.
Pros:
- Scenic overlook is gorgeous.
- The dense tree cover and near-constant slight breeze help to both keep this campground cool and the mosquitos at bay.
- Well-kept vault toilets.
- Close to a many points of interest.
Cons:
- Some of the sites are strangely graded and situated. One site near ours had the fire pit at the very edge, making sitting around it virtually impossible. 14 was a pretty site but had a large tree in the middle of it.
- Using the County website to reserve the site was clunky and time consuming.
Erin Z.TravelerKMSF Shelter 1 Backpack Site
Remote backpacking Shelter 1
Great backpack camp site. Decent walk and terrain to get to the site. There is an open shelter to put your tent if you prefer to outside. There is a fire pit, but we found our own wood around the site. (Bring a small axe). There is an outhouse, but I wouldn’t recommend using it. There is a picnic table and a bench. It’s very secluded for privacy :) we will definitely be back.
- Erin Z.Traveler
Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit
Great Family Campground!
Site was spacious but very close to your neighbors. Lots to do in the area. Bathrooms and showers were clean. The beach was not clean and very hard to walk on, very rocky. Electricity on site and water near by. Great trails close by.
- Abbe W.Guide
Pinewoods Campground — Kettle Moraine State Forest-Southern Unit
Lovely Pine Forest, Quiet, Clean Campground
Stayed one night (Friday) and really enjoyed the location. We were in the quiet loop, Loop 1, which actually was very quiet. Everyone was respectful of the rules. We did walk over to the other loops where there was more of a party atmosphere at some sites with larger groups, music, and kids.
The sites in Loop 1 are varied as far as tree coverage, seclusion, and terrain. Our site (22) was relatively flat, felt secluded, had good tree coverage with some filtered sunlight. The pit toilets are about 3 sites away, a short walk. There is room for two tents.
There was a posting about black bear sightings in the area. We did not experience that, just chipmunks and birds.
- Jarrett G.Traveler
New Glarus State Park Campground
Cramped
Handful of sites, not very level. Lots of bugs, had raccoons fighting outside my tent. Was right across from the New Glarus brewery.
- Christie B.Traveler
Green County Fairgrounds
Ok but you have to work around the events going on because you have to leave when they are going on!
Nice quiet place no neighbors usually bothering you showers and toilets could be better but overall ok
- JJulia H.
Ranger
Madison Campground
Cute campground - near Madison
We were in Site# B1. We had Full hook- up with a gravel pull-thru. We travel towing a 14 foot trailer and were able to fit both in our pull through site. My jeep though did not fit. The site was easy to level.
Our site was shaded with lots of trees. This was a larger sized lot with our neighbors not too close (but we did choose a premium site with a patio and paid extra to be on the end).
This specific lot comes with a concrete patio The lot comes with a picnic table and fire hole in the ground.
They have a community Outdoor kitchen-y area with picnic tables.
They do not provide garbage service at your site so you must walk to garbage dumpster.You are allowed to ride personal golf carts. There is really not a need to have a Golf cart because it is a smaller campground.
They do have a Swimming pool.
There is a Playground. They also offer horseshoes and a volleyball court.They have a great general store.
The streets are gravel so not great for riding bikes but there are great places to ride bikes outside of campground, especially around Middleton and Madison.
They have cabins for rent and tent areas.
They have one shower house. The shower house has the typical stalls. These are kept mostly clean.
There is a laundry facility. It is a cash only facility, but they have a change machine.
They have a fenced in dog park and many grassy areas to walk dogs.
There were no trails to hike in the campground.
Some fun things to do outside of the campground are the Saturday Farmer’s Market in Madison and multitude of bike trails.
- JamesScout
Cedar Hills Campground
Cedar Hills Campground
They have RV for sale or rent, large lots start at $2495 to $3495 for the yr.
- ttony K.Traveler
Madison Campground
Basic
While the location is great for fast travels into Madison, or getting to great hiking areas. My only complaint is that not every pull through is provided with a fire ring to burn wood (they almost seem random) and that the check in building is a bit bare. Otherwise, great location, great (partial) amenities, and good customer service.
Kim J.Traveler
Waupun Park Campground
Nice campgrounds
We stayed there for a while very pretty and the people very friendly bring wood to your camp they have trails you can walk and county pool and golf course sites are good size we will return it's close to town as well
- Kim J.Traveler
Grand Valley Campground
Great campgrounds
We stayed there in July alot of activities for everyone pool was so nice bathrooms very clean everyone so nice Amish came sat morning selling there goodies we will return definitely
- TTaylor B.Scout
Ledge County Park
Great Park!!
It was our first time visiting Ledge Park & we would absolutely go back! The sites are natural feeling and the park is very, very clean (including the bathrooms)… the views from “The Ledge” are hard to beat.
Addison G.GuidePinewoods Campground — Kettle Moraine State Forest-Southern Unit
Great access to Scuppernong Hikes
Stayed in campsite directly connected to Green Trail of the Scuppernong Trailhead. Campsite was clean and quite private for being near people.
- Addison G.Guide
Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit
Great spot for hiking Kettle Moraine
Campsites are kept up and quite clean. Some have a beautiful view of lake. Some water fountains did not work, however sinks were always working. So many little trails all throughout the campsite. Family friendly (parks, beach, pet friendly)
- HHannah K.Scout
The Playful Goose Campground
Insert Terrible Adjective
The Good: Campsites along the river looked really nice. The Bad: We had a 3 day holiday weekend booked for tent camping.Unfortunately the weather did not hold up and our site was completely soaking wet- we could not even steak out our tent. The owner of the campground denied a refund due to policy. The amount of rules and regulations this camp ground has is absolutely absurd. The Ugly: When checking into our site, the woman working the desk was efficient but things took a bad turn really quick. 1. If you book on the Playful Goose website you will get charged a% service fee, which The Playful Goose Staff does not stand behind. 2. If you book on the Playful Goose website you must specify how many nights, adults and tents per site. Without too many logistics, we ended up paying over$220 for a weekend JUST TO CAMP IN HORICON. While trying to set up camp in the rain, a male(we were told he was the assistant manager) in a golf cart drove near our site yelling vulgar language, accusing our group of doing things to the grass(when the grass was a swamp to begin with due to weather) and lastly, as the man was driving away he continued to make harassing comments. The lack of professionalism, courtesy and respect from staff was unacceptable as a paying guest. Playful Goose Takeaway: I will never spend my hard earned money here. Again. And be sure to tell everyone I know to not spend their hard earned money here either. There are so many other beautiful camp grounds within a 100 mile radius and this one will be my last choice. Such a shame this wonderful campground I used to visit has gone down hill.
- BBradScout
Madison Campground
Okay if other campgrounds are full or for just 1 night
Easy to get to from I-90 but also a bit too close so there is road noise. The price may be a little high at $66.00 per night but the sites are all drive through and can handle large rigs. Not bad for a quick one-night stay. Many available sites even on memorial weekend 2024
- AAC S.Scout
Devils Lake State Park Group Campground — Devils Lake State Park
Group trip!
Went with an outdoor adventure class, views were beautiful, climbing was great! Campgrounds were clean and had easy access to water, got a visit from some local raccoons at night, overall experience was great!
Mehran S.TravelerOttawa Lake Campground — Kettle Moraine State Forest-Southern Unit
Decent Family Campground (5/3/2024)
It’s a family friendly and decent campground. Sites are not too secluded, but they’re clean and well taken care of, the facilities weren’t clean, they have volunteer hosts on site for any needs, the lake is beautiful during the sunset, sandy area and playground for kids, car noise is noticeable but not too loud (in the inner camp sites). Few trails around for hiking. They charge an extra $11 for each car’s entry at the gate but you can use the car pass for visiting all the state park’s trails around the area (you need permit for parking at the trailheads). It’s good for family with kids or beginner campers, but not if you’re looking for a relaxing or adventurous time.
Guide to Lake Mills
Tent camping near Lake Mills, Wisconsin offers a blend of serene nature and outdoor adventure, perfect for those looking to escape the hustle and bustle of everyday life.
Local Attractions to Explore
- Visit the nearby Aztalan State Park, known for its beautiful grasslands and hiking trails alongside the Crawfish River.
- The New Glarus State Park Campground features well-groomed trails and is conveniently located near the famous New Glarus Brewery.
- Enjoy birdwatching at Sandhill Station State Campground, where you might spot sandhill cranes near Mud Lake.
Tips for Tent Camping Near Lake Mills
- Pack light for your stay at Sandhill Station State Campground, as all sites are hike-in only, with no carts available for gear transport.
- Be prepared for limited amenities at KMSF Shelter 1 Backpack Site, which offers a secluded experience with a fire pit and picnic table but no drinking water or showers.
- Bring your own firewood when camping at Sandhill Station State Campground, as there are no vendors on-site.
Activities for Outdoor Enthusiasts
- Explore the Glacial Drumlin bike trail, which runs near Sandhill Station State Campground, perfect for biking and hiking.
- Enjoy a peaceful day of fishing or kayaking at Snug Harbor Inn Campground on Turtle Lake, which offers beautiful views and a relaxing atmosphere.
- Take a break at Wild Goose City Park, where you can picnic and enjoy the playground after a long bike ride on the Wild Goose bike trail.
Frequently Asked Questions
Which is the most popular tent campsite near Lake Mills, WI?
According to TheDyrt.com, the most popular tent campground near Lake Mills, WI is Snug Harbor Inn Campground on Turtle Lake with a 4.8-star rating from 6 reviews.
What is the best site to find tent camping near Lake Mills, WI?
TheDyrt.com has all 10 tent camping locations near Lake Mills, WI, with real photos and reviews from campers.